CN101704473B - Main lifting parallel operation height balance correcting system of 400-ton bridge crane - Google Patents
Main lifting parallel operation height balance correcting system of 400-ton bridge crane Download PDFInfo
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Abstract
The invention discloses a main lifting parallel operation height balance correcting system of two 400-ton bridge cranes, comprising master controllers of two overhead traveling cranes, a main hook winch drum and a main hook motor, wherein each overhead traveling crane also comprises a cab substation, a communication master station, a trolley communication substation, a main hook frequency converter, an absolute value encoder and an incremental encoder; the main hook motor is a main hook variable frequency motor; the output end of the main hook variable frequency motor is provided with the incremental code, the output end of which is connected with the main hook frequency converter; the main hook variable frequency motor is also connected with the main hook frequency converter; the absolute value encoder is installed on the main hook winch drum and connected with the trolley communication substation; the trolley communication substation is connected with the communication master station; the communication master station is connected with the cab substation; the cab substation is connected with the master controllers; the main hook frequency converter is connected with the communication master station; and the two communication master stations of the two overhead traveling cranes are connected. The invention realizes that the two cranes keep at the same height all the time and ensures the degree of balance of the two overhead traveling cranes hoisting rotors and the safety of the hoist of a generator.
Description
Technical field the present invention relates to twin beam overhead bridge crane, particularly a kind of two 400 ton bridge crane main liftings and height balance correcting system.
The background technology twin beam overhead bridge crane is commonly called as overhead traveling crane, is used for the lifting operations such as loading and unloading of installation, decomposition or the material of main equipment.Be widely used in industries such as machinery, electric power, metallurgy, casting.The overhead traveling crane majority is installed on indoor, also can be installed on outdoor.
Because the rotor volume of hydraulic power plant's generator set is big, equipment self-weight is heavier.The designer in power station selects from the Technological Economy optimal angle, and the main building of most hydroelectric power plants is narrow.Be to guarantee the maintenance of generator set, reduce construction of hydropower stations investment simultaneously, the designing unit in power station often adopts two overhead traveling cranes on electric controling mode " and car " to lift the design plan of rotor, solves the maintenance issue of hydroelectric power plant's generator set.In other words: when generator set overhauled decomposition and generator set is installed in the hydraulic power plant, the 750T because the heaviest piece-generator amature of unit weighs was above the rated weight capacity of bicycle main hook 400t; Must be with the equalizing bars of the supporting 40T weights of two 400T overhead traveling crane main hooks, lift a generator amature about the combination lift heavy 750T that exceeds 1 overhead traveling crane rated load weight jointly.Exactly because above-mentioned reason, the overhead traveling crane of large-scale hydroelectric power plant must be designed to two overhead traveling cranes and the turner work when lifting rotor.
Two box twin beam overhead bridge cranes of 400t/80t/10t of our factory; Be the maintenance of generator set in the factory and electromechanical appliance, the important weight-lifting equipment installed; Be that Taiyuan heavy industry Co., Ltd 1966 is produced box twin beam overhead bridge crane per year; Four chassis groups, the cart that formation can be walked are equipped with in the bottom, four angles of vehicle frame.Overhead traveling crane main hook load 400t; Auxiliary hook load 80t; Electric block hoisting capacity 10t.Major and minor hook is contained on the dolly; Dolly is contained on the girder, and electric block is loaded under the overhead traveling crane one side bridge-type girder.
Receive the restriction of domestic at that time design, manufacture level, a lot of defectives and fault appear in overhead traveling crane in the use in more than 40 years.The velocity control accuracy of overhead traveling crane is low, and mechanical specialities is soft, and starting current is big, and stop position is inaccurate, seamlessly transits poor performance during low speed.The operation easier that generator set decomposes, suspension hook slightly rises and falls when installing is big; When main hook slightly rises and falls; Driver's repeated multiple times is shifted main hook operating handle fast speed onto the gear that advances, and immediately the handle fast speed is withdrawn into the parking gear again, to realize slightly rising and falling of main hook.The ascending, descending a little of main hook is basic have been realized not.Overhead traveling crane exists inherent technology defective and a lot of potential safety hazards, has seriously influenced that generator set and electromechanical appliance overhaul, normally the carrying out of erection work, the security threat that there is damaged in collision in overhead traveling crane to the equipment that lifted by crane and unit parts.
The mode of speed control original design of overhead traveling crane lifting mechanism is 5 grades of rotor resistance mode of speed control and brake sticking brake mode, and the velocity variations characteristic between each gear of main hook is hard, relies on the resistance of switching master controller gear change rotor resistance to carry out speed governing; Impact moment is big when main hook startup, parking and speed change.Deep low gear relies on the brake rubber block of band brake apparatus and the friction eceleration between the brake hub to the reduction of speed scope of " 0 speed ".Main hook decline process is control slide hook phenomenon design-calculated reversing braking mode, and the impact moment when causing the decline work of main hook mechanism is very big, and the impact damage of lifting mechanism mechanical part is serious.Gear shift speed governing that speed governing system is frequent and reversing braking are operated, and cause master controller, contactless switch, the relay frequent movement of the major and minor hook electric control loop of overhead traveling crane, and the contact arcing of all kinds of device for switching, burn and mechanical wear phenomenon are all very serious.
The former electric elements of overhead traveling crane is domestic sixties of a product, belongs to obsolete product, and producer does not produce, and spare part is purchased nowhere, leans on the sectional repair defective component can keep the use of overhead traveling crane.The electric protection function is poor, sensitivity is low, the protection project is few.Receive the restriction of Electrical Control Technology level both at home and abroad at that time, the electrical speed regulation system is very backward.
Though the overhead traveling crane main hook uses physical construction, model specification and the technical parameter of equipment such as electrical motor, change-speed box, reel, coupler, bearing, drg all identical.But because the revolutional slip of the installation of every each parts of overhead traveling crane main hook mechanism, horizontal adjustment, axis adjustment and electrical motor does not produce uneven constant force square on an equal basis, make that the main hook ascending, descending process of two overhead traveling cranes can not accomplish to start simultaneously fully, stop synchronously with constant speed, etc. moment operation (microcosmic).
And turner is when doing; Because the different intrinsic moment differences that produce of resistance of the moment difference of the main hook electrical motor of two cars output, the revolutional slip difference of electrical motor and speed-changing mechanism; The speed of two car owner's hook electrical motors is different; And the electrical speed regulation system can't remedy the speed difference that single electric motor exists, the main hook mechanism of two cars can not guarantee synchronous startup, synchronously stop with constant speed, etc. the moment operation; Therefore cause generator amature and car to lift the drum speed that two overhead traveling cranes take place in the process different; The height of main hook ascending, descending is different, causes the main hook skewness low apart from ground of main hook height, overhead traveling crane apart from ground of an overhead traveling crane, and the safety of electrical generator large component lifting in serious threat, has restricted the maintenance progress of unit.
Its traditional design ability of hoisting crane originating firm is not at that time utilized Design of Mechanical Structure and Electrical Control Technology; Eliminate the skewness that in fact exists; The main hook lifting altitude overbalance that causes in order to eliminate two hoisting cranes each species diversity when also turner is done to accumulate causes the rotor axis deflection, can only rely on the adjusting of equalizing bar; Guarantee the generator amature axis hoist or the decline process in be approximately perpendicular to horizontal surface, to accomplish normal up-down.
The said equalizing bar of leading portion is: the overhead traveling crane that two and turner are done; Increase shoulder pole---the equalizing bar that lifts generator amature; The adjusting shaft with the equalizing bar axis normal has been designed at the clamping device two ends of equalizing bar center hub cartridge rotor; When the intrinsic accumulation difference in two overhead traveling crane work cause that " equalizing bar " end is high, when an end is low, because the deadweight of rotor makes rotor axis still keep roughly perpendicular to the ground.
But in the actual use of our factory; The main hook that an overhead traveling crane often occurs is high and the main hook of another overhead traveling crane is low; Make the axis of equalizing bar move to the high lateral deviation of main hook; Drive the generator amature axis thus and also move to the high lateral deviation of main hook, so just make generator amature outer rim and stator gap deflection, a side clearance dwindles gradually and bumps.Factors such as the adjusting shaft of " equalizing bar " is dumb also occurred, it is out-of-level to drive on the rotor plane, makes and causes rotor axis out of plumb, rotor deflection to add the rotor axis skew, makes the phenomenon of rotor deflection collision bore of stator.
According to the development of domestic and international hoisting crane electrical speed regulation technology, and the improving constantly of electric elements reliability such as frequency converter, Programmable Logic Controller, light current master controller, practicality.We utilize full frequency changing AC speed changing, Programmable Logic Controller (PLC) control technology and stepless change control forms that the overhead traveling crane electric system has been carried out upgrading, improve the technical performance of two 400T hoisting cranes, upgrade the heavy equipment level.
Summary of the invention in sum; The technical matters that the present invention will solve is to provide a kind of two 400 ton bridge crane main liftings and height balance correcting system; Eliminate and during the car lifting two overhead traveling crane main hooks apart from the inconsistent skewness of floor level, the master who guarantees two overhead traveling cranes hoist and the overall height degree identical, avoid undesirable condition because of rotor deflection collision bore of stator; Thereby guarantee the workmanship of generator maintenance, guarantee generator set service work safety, carry out smoothly efficiently.
It is following that the present invention solves the problems of the technologies described above the technical scheme of being taked: a kind of two 400 ton bridge crane main liftings and height balance correcting system; Comprise two overhead traveling cranes master controller, main hook winch drum and main hook motor separately, it is characterized in that: every overhead traveling crane also comprises driver's cab substation, communication master station, dolly communication substation, main hook frequency converter, absolute value type coder and incremental encoder; The main hook motor is the main hook variable-frequency motor; Main hook variable-frequency motor mouth is installed incremental encoder, and the incremental encoder mouth is connected with the main hook frequency converter, and the main hook variable-frequency motor also is connected with the main hook frequency converter; Main hook winch drum is installed absolute value type coder; Absolute value type coder is connected with dolly communication substation, and dolly communication substation is connected with communication master station, and communication master station is connected with the driver's cab substation; The driver's cab substation is connected with master controller, and the main hook frequency converter is connected with communication master station; The communication master station of two overhead traveling cranes is connected.
Driver's cab substation, communication master station and dolly communication substation are equipped with PLC respectively.
Overhead traveling crane original design and car measure have:
The measure of former mechanical aspects: with two overhead traveling crane both sides with and the special-purpose iron chains tension of car be linked at together.The measure of former electric aspect: with the control signal passage of the main hook of two overhead traveling cranes, cart, dolly with and the car cable connection together.
Overhead traveling crane and car operating mode: choose two overhead traveling cranes wantonly one as " main car ", that is: " main car " is as the operation car of two overhead traveling cranes of interlock.This needs the select switch on " main car " driver's cab combined operation platform is switched to " and car " position.And another overhead traveling crane is just as " secondary car "." secondary car " as accept " main car " operational order by motor-car.Need " and car select switch " on " secondary car " driver's cab combined operation platform switched to " his car " position.Each corresponding mechanism of two overhead traveling cranes is controlled in the operation of main hook, cart, dolly master controller on " main car " operator's station during operation of driver and car simultaneously.The master controller of main hook, cart, dolly will be in " inefficacy " state on " secondary car " driver's cab operator's station.The position signal of main hook, cart, dolly master controller handle is the velocity setting instruction of two overhead traveling crane main hooks, cart, trolley body on " main car " operator's station.
The present invention detects the height and position of two overhead traveling crane suspension hooks in real time at the P+F high precision absolute value type coder that two overhead traveling crane main hook winch drum axle heads install additional, promptly detects the rotation amount signal of two overhead traveling crane drum shaft respectively.The absolute value encoder is definitely unique because of its each position, disturbance rejection and need not power-failure memory, is applied to angle, linear measure and the positioning control in the various industrial systems now more and more widely.This range of models coder of PVM58N-011AGROBN-1213 that the present invention adopts is based on advanced person's fast technology; That is: individual pen sampling, enclose mechanical transmission: the every circle resolution of absolute value type coder is 8192 (13 bits) more, can write down 4096 number of turns (12) altogether; So total resolution is 25 8192 * 4096=33; 554,432 steps, all corresponding absolute unique value in each position in this scope.Absolute value type coder will detect two per 8192 light pulse signals of sky car owner's hoisting drum axle respectively and send as the digital quantity signal that rotates 1 circle.The main hook winch drum revolution moves 1 ° of angle, just has 22.7 to send with last light pulse signal.Thereby can realize two overhead traveling crane main hooks are risen the accurate measurement and the control of the real-time rotating speed of reel.
When two overhead traveling crane frequency converters drive its separately variable-frequency motor with " the velocity setting instruction " of " main car "; Because two speed difference that overhead traveling crane main hook mechanism exists; Two chassis are through being installed in the absolute value encoder of reel low speed axle head separately, and the run location of main hook winch drum is separately detected in real time.Absolute value encoder transfers signals to two cars dolly communication substation PLC separately respectively through the PROFIBUS-DP communication modes, and dolly communication substation PLC collects the PLC of communication master station that transfers signals to main car behind this signal.After the position signal of two chassis absolute value encoder collections was transferred to the main car PLC of master station respectively, the main car communication PLC of master station carried out the comparison of position signal data, and carries out logic operation.Positional value with main car is a benchmark; The alternate position spike that compares two chassis main hook mechanisms, if the position deviation excessive (>=1 ‰) of two overhead traveling crane main hooks, the control program of the main car communication PLC of master station in-to-in CPU through writing; Judge at first whether two overhead traveling cranes are " and car " position; After being " and car " position, control program starts the main deviation-rectifying system that hoists voluntarily, and the master of very fast (or the reel amount of spin the is bigger) overhead traveling crane of " instruction " rotating speed frequency converter that hoists sends the data adjustment and instructs (reduction of speed).The absolute value data of operational factor equates until two car owners hoist, and " main car " PLC just stops to send data adjustment order.
In order to prevent in " correction " adjustment because the driving data that superposeed; Cause the main speed that hoists concussion to occur; The speed that in program design, is in particular overhead traveling crane has been done very little " deviation criterion " scope: when the main hook velocity deviation scope of two overhead traveling cranes between >=1 ‰～3 ‰; Be lower than 1 ‰ these values, think that then the position of two cars is identical, overhead traveling crane does not start the correction program.Deviate is at >=1 ‰～3 ‰ criterion scope internal program automatic deviation correction.Position deviation value=3 ‰ and＞3 ‰ when two car owner's hooks; Program setting is that deviation is excessive; Do not carry out automatic deviation correction and change manual correction into: locking automatic deviation correction program immediately, concurrently speak, light reports to the police, and notifies the driver manual operation; Carry out the manual correction of bicycle action, the position of artificial adjustment two car owner's hooks is consistent.Thereby realize that two chassis remain at sustained height; Guaranteed that two overhead traveling cranes lift the degree of balance of rotor; Reduced personnel's in the ascending, descending process of rotor lifting labour intensity; Guaranteed the safety of electrical generator large component lifting, avoided since two overhead traveling crane main hook motor intrinsic speed difference cause lift energy imbalance, and improved the work efficiency that two overhead traveling cranes lift working rotor.The present invention is highly identical when having realized two overhead traveling crane main hooks and car, and the main hook of having corrected an overhead traveling crane of prior art is high apart from ground, the main hook skewness low apart from ground of an overhead traveling crane.
Description of drawings Fig. 1 is two 400 ton bridge crane main liftings and the electric diagram of circuit of height balance correcting system.
Among the figure: 1-first master controller, the 2-first communication master station, the 3-first main hook frequency converter, 4-second master controller; The 5-first absolute value type coder, the 6-first dolly communication substation, the 7-second driver's cab substation, the 8-second communication master station; The 9-second main hook frequency converter, the 10-second main hook variable-frequency motor, the 11-second absolute value type coder, the 12-second dolly communication substation; The 13-first driver's cab substation, the 14-first main hook variable-frequency motor (also claiming main lifting motor), 15-first incremental encoder, 16-second incremental encoder; 17-first main hook winch drum (also claiming main hoisting drum), 18-second main hook winch drum, 19-operating handle.
The components and parts front has that ' " first " limits, and is the components and parts of first overhead traveling crane, and the components and parts front has that ' " second " limits, and is the components and parts of second overhead traveling crane.
As shown in Figure 1: a kind of two 400 ton bridge crane main liftings and height balance correcting system comprise first master controller 1 and second master controller 4, first main hook winch drum 17 and second main hook winch drum 18, the first main hook motor 14 and the second main hook motor 10 of two overhead traveling cranes;
First overhead traveling crane also comprises the first driver's cab substation 13, the first communication master station 2, the first dolly communication substation 6, the first main hook frequency converter 3, the first absolute value type coder 5 and first incremental encoder 15; The first main hook motor is the first main hook variable-frequency motor 14; The first main hook variable-frequency motor mouth is installed first incremental encoder; The first incremental encoder mouth is connected with the first main hook frequency converter; The first main hook variable-frequency motor also is connected with the first main hook frequency converter, and first main hook winch drum is installed the first absolute value type coder, and the first absolute value type coder is connected with the first dolly communication substation; The first dolly communication substation is connected with the first communication master station; The first communication master station is connected with the first driver's cab substation, and the first driver's cab substation is connected with first master controller, and the first main hook frequency converter is connected with the first communication master station;
Equally, second overhead traveling crane also comprises the second driver's cab substation 7, the second communication master station 8, the second dolly communication substation 12, the second main hook frequency converter 9, the second absolute value type coder 11 and second incremental encoder 16; The second main hook motor is the second main hook variable-frequency motor 10; The second main hook variable-frequency motor, 10 mouths are installed second incremental encoder 16; Second incremental encoder, 16 mouths are connected with the second main hook frequency converter 9; The second main hook variable-frequency motor 10 also is connected with the second main hook frequency converter 9, and second main hook winch drum 18 is installed the second absolute value type coder, 11, the second absolute value type coders 1 and is connected with the second dolly communication substation 12; The second dolly communication substation 12 is connected with the second communication master station 8; The second communication master station 8 is connected with the second driver's cab substation 7, and the second driver's cab substation 7 is connected with second master controller 4, and the second main hook frequency converter 9 is connected with the second communication master station 8; The first communication master station 2 is connected with the second communication master station 8.
The first and second driver's cab substations, the first and second communication master stations, the first and second dolly communication substations are equipped with PLC respectively.
The PLC that be equipped with the first driver's cab substation and the second driver's cab substation is a Siemens S7-300 series PLC.The PLC that is equipped with of the communication master station and the first dolly communication substation, the second dolly communication substation is a Siemens S7-300 series PLC.
The first communication master station 2 is contained in the girder of the first heavy-duty machine; The second communication master station 8 is contained in the girder of second hoisting crane.The one the first main hook frequency converters 3 and the second main hook frequency converter 9 are Siemens 6SE7 Series Frequency Converter.
The first dolly communication substation 6 and the second dolly communication substation 12 lay respectively on its dolly; Promptly the first dolly communication substation is contained in first dolly, and the second dolly communication substation is contained in second dolly.
First incremental encoder 15 and second incremental encoder 16 are P+F incremental encoders.
The first absolute value type coder 5 and the second absolute value type coder 11 are P+F absolute value type coders, and it is the absolute value encoder.
The main hook frequency-converting speed-governing control system of its two crane in bridge type of the present invention, on the variable frequency regulating speed control structure, system is made up of two closed speedrings; Respectively the principle of work of two speed governing closed loops is narrated respectively as follows below:
1, a closed loop is the main stepless change regulating control ring that hoists
Closed control loop mainly is made up of main elements such as first master controller 1 of S+B band encoder type, the first main hook adjustable frequency motor 14, P+F first incremental encoder 15, the Siemens 6SE7 series first main hook frequency converters 3.The main stepless change regulating control ring that hoists is the closing speed regulating ring of main hook bicycle accuracy control.This closure control loop mainly by frequency converter self speed controllable function and additional speed deviation-correcting function, is realized the raising of adjusting speed accuracy.Be example with No. 1 overhead traveling crane below, the principle of work of bicycle stepless change regulating control ring be described:
First incremental encoder 15 is as collection, the transfer element of the first main hook variable-frequency motor, 14 tach signals; Continuous tach signal to the first main hook frequency converter, 3 real-time Transmission, the first main hook variable-frequency motor 14; To realize the feedback of the first main hook variable-frequency motor, 14 tach signals, guarantee that the first main hook variable-frequency motor 14 accurately turns round according to the rotary speed instruction signal that first master controller 1 sends.
Semaphore uses the PROFIBUS-DP pattern to carry out the transmission communication of weak electric signal between each element.The incremental encoder 15 of first main hook variable-frequency motor tail end installing as the signal collecting element of the first main hook variable-frequency motor, 14 rotation amounts, detects and exports the precise figures tach signal of main hook electrical motor 14 in real time.First master controller 1 of band S+B coder is installed in driver's cab; Carry out the velocity setting mode by the overhead traveling crane chaufeur through 19 pairs first master controllers of operating handle 1, with the position signal of first master controller, 1 handle given signal as the first main hook adjustable frequency motor, 14 operating speves; First master controller, 1 output signal is the instruction of benchmark digital quantity.This speed governing system is with the PROFIBUS-DP communication modes; The velocity setting signal is transferred to the Siemens S7-300 series PLC of the first driver's cab substation 13 that is located at the first heavy-duty machine; S7-300 series of PLC through being arranged on the first communication master station 2 in the first heavy-duty machine case beam is the driving language that the first main hook frequency converter 3 can be discerned with the velocity setting signal transformation of master controller 1 again; Instruct the first main hook frequency converter to export given frequency (3～48Hz) according to " given instruction "; Because the present invention has adopted the stepless nothing shelves master controller 1 of band coder, can realize that the stepless change of mechanism's full speed range is regulated.After the first main hook frequency converter 3 obtains the velocity setting signal, export cooresponding frequency, drive the first main hook variable-frequency motor 14 according to " instruction " given speed operation according to " given instruction ".
Be arranged on the P+F incremental encoder 15 of the first main hook variable-frequency motor, 14 afterbodys, the rotating disk of 1024 gratings is equipped with in its inside, and 1024 gratings revolve electrical motor to turn around and are divided into 1024 five equilibriums.After the motor rotation, per 1024 light pulse signals that coder will write down are as the digital quantity signal of motor rotation 1 circle.Motor has rotated less than 0.352 ° of angle, and coder is recorded as 1 light pulse signal.The coder that scale is very thin has been realized accurate detection and the transmission to the real-time tach signal of electrical motor.First incremental encoder 15 detects accurate tach signal amount; Through the subsidiary velocity feedback card (PG card) of the first main hook frequency converter 3 the real-time tach signal of motor is transferred to the first main hook frequency converter 3; The tach signal amount of the first main hook variable-frequency motor 14 compares at the first main hook frequency converter, 3 inner " given speeds " with first master controller 1; Internal arithmetic device by the first main hook frequency converter calculates the velocity contrast between motor actual speed and " given speed "; Instruct the first main hook frequency converter to adjust the frequency of its output; Make the first main hook variable-frequency motor 14 according to speed-regulating instruction (output frequency of the first main hook frequency converter 3), carry out raising speed (or reduction of speed) and regulate, realize the actual speed of motor and equating of " given speed ".The every action of the handle of first master controller 1 once, this speed setting ring is made the speed control of a closed loop; Handle stops during the action; First incremental encoder 15 tach signal in real time is transferred to the first main hook frequency converter 3; Carry out " measurement-comparison-adjusting " of " given speed " and motor actual speed; And small motor actual speed and the speed difference between " given speed " be recorded in frequency converter 3 inside; Up to the speed setting ring this " fine difference " eliminated fully, the first main hook frequency converter just stops to send " correction " speed-regulating instruction to the first main hook variable-frequency motor 14, thereby has realized the first main hook variable-frequency motor, 14 speed are carried out the target of accuracy control.
2, another closed loop is the main also automatically regulating ring of height balance that hoists
The control program of writing among the PLC of control by the first communication master station 2 or the second communication master station 8 of closed speedring drives completion, and this program is the proprietary correction program of overhead traveling crane.This closure speedring is applied to two sky car owners and hoists when also turner is done; This closure speedring is made up of the components and parts that are installed on two overhead traveling cranes respectively: the first main hook adjustable frequency motor 14 and the second main hook adjustable frequency motor 10 drive first main hook winch drum 17 through two overhead traveling crane retarders respectively and second main hook winch drum 18 rotates; The amount of spin signal of two its first main hook winch drums 17 of overhead traveling crane and second main hook winch drum 18 is then respectively by P+F first absolute value encoder 5 and 11 meterings of P+F second absolute value encoder; And be transformed to the digital quantity electric signal and be sent to the first dolly communication substation 6 that is located on its dolly and the S7-300 series of PLC of the second dolly communication substation 12; The first dolly communication substation 6 is sent to the amount of spin digital signal of an overhead traveling crane (supposing that an overhead traveling crane is set to " main car ") first main hook winch drum 17 on the PLC that is arranged on interior first a communication master station 2 of sky railway carriage beam, compares with the amount of spin digital signal that is arranged on second main hook winch drum 18 of the second communication master station 8 in No. two overhead traveling cranes (supposing that No. two overhead traveling cranes are set to " secondary car ") the case beam.The communication master station of " main car " is after the PLC of the first communication master station 2 compares two car different rotation amount digital signals, calculate; And judge two overhead traveling crane main hook operating altitude differences and exceed when big, the PLC of the first communication master station 2 (possibly be the frequency converter 3 of an overhead traveling crane to the main hook frequency converter of the bigger overhead traveling crane of the amount of spin of main hook winch drum; Also possibly be the frequency converters 9 that No. two overhead traveling cranes are) send restriction signal, reduce the output frequency of frequency converter, make the main hook electrical motor of the overhead traveling crane that the reel amount of spin is bigger reduce output speed.The semaphore of closed regulating ring transmits through the PROFIBUS-DP communication mode between the operating office each other.Signal and communication is in bicycle internal transmission part when two overhead traveling cranes and car, like the communication streams of above-mentioned " the main stepless change regulating control ring that hoists " to identical.Because the first communication master station 2 is connected with the second communication master station 8; Signal transmission between two overhead traveling cranes; Be through between two overhead traveling cranes and the MPI port of car cable in " main car " PLC master station will " given speed " signal is deviation correcting signal, through and the car cable send the PLC master station of another overhead traveling crane (secondary car) to.Shown in
among Fig. 1.
In order to eliminate the intrinsic speed difference that two overhead traveling crane main hook mechanisms exist; In order to reduce operating personal because of adjusting the human element of the inconsistent generation of two overhead traveling crane main hook lifting altitudes; Deflection occurs when causing two overhead traveling cranes to lift generator amature and damage rotor; Work speed when raising overhead traveling crane and car lift reduces overhead traveling crane driver's labour intensity.Overhead traveling crane and car operating control procedure are designed to: be set to " main car " (two overhead traveling cranes can be arbitrarily with wherein one be set to main car; Another is then for secondary car) master controller send velocity setting instruction (high accuracy number control signal) to two chassis simultaneously; That is: overhead traveling crane driver operation " main car " master controller handle position; With given work speed digital quantity command signal; Through " main car " driver's cab PLC substation (the first driver's cab substation 13 or the second driver's cab substation 7), be transferred to the PLC master station (the first communication master station 2 or the second communication master station 8) of " main car " with the PROFIBUS-DP communication modes.Main car PLC master station when " main car " speed command signal that master controller is given is transferred to main car owner's lifting mechanism, also through the MPI mouth in the main car PLC master station with " given speed " signal through and the car cable be sent to the PLC master station of another overhead traveling crane (secondary car).Respectively the frequency converter of mechanism is separately carried out speed controlling and adjusted by two overhead traveling crane PLC master stations with same " high accuracy number control signal ".
The frequency conversion speed-adjusting system of the most products uses of lifting industry at present is common open loop frequency conversion speed-adjusting system; What this project speed governing system was used is the closed loop frequency-converting speed-governing control system; The maximum difference of closed loop frequency control and open loop frequency control is: the common frequency-converting speed-governing control system of open loop, though can regulate the speed of electrical motor, the accuracy of speed setting and degree of regulation hang down very low, with the difference of " closed-loop drive " be incomparable.
The control accuracy that the present invention has eliminated old-fashioned hoisting crane self existence is low; Mechanical specialities is soft; Defectives such as adjusting speed accuracy is low, poor stop, lifting mechanism impact moment are big, and is big to the impact damage of mechanical part, that work noise is big and overhead traveling crane lifting mechanism operation stability is low.And technical deficiency such as, the main hoisting mechanism intrinsic difference accumulation low disadvantage that causes factors such as hoisting crane self-technique level is low, fault rate is high, operating characteristic difference to bring because of hoisting crane rheostatic speed regulation mode controller performance.Stator does not bump in the time of guaranteeing electrical generator decomposition and installation, guarantees generator set service work safety, carries out smoothly efficiently.
Claims (6)
1. one kind two 400 ton bridge crane main liftings and height balance correcting systems; Comprise two overhead traveling cranes master controller, main hook winch drum and main hook motor separately, it is characterized in that: every overhead traveling crane also comprises driver's cab substation, communication master station, dolly communication substation, main hook frequency converter, absolute value type coder and incremental encoder; The main hook motor is a variable-frequency motor; The variable-frequency motor mouth is installed incremental encoder, and the incremental encoder mouth is connected with the main hook frequency converter, and variable-frequency motor also is connected with the main hook frequency converter; Main hook winch drum is installed absolute value type coder; Absolute value type coder is connected with dolly communication substation, and dolly communication substation is connected with communication master station, and communication master station is connected with the driver's cab substation; The driver's cab substation is connected with master controller, and the main hook frequency converter is connected with communication master station; The communication master station of two overhead traveling cranes is connected; Choose two overhead traveling cranes wantonly one as main car, two overhead traveling crane main hook winch drum axle heads are installed absolute value type coders, detect the rotation amount signal of two overhead traveling crane drum shaft respectively; And signal is transferred to dolly communication substation separately through the PROFIBUS-DP communication modes, and dolly communication substation transfers signals to main car communication master station, and main car communication master station is a benchmark with the positional value of main car; Position signal to two overhead traveling crane main hooks compares; And carrying out logic operation, the control program of the main car communication PLC of master station in-to-in CPU through writing judges at first whether two overhead traveling cranes are " and car " position; It is " and car " position; Control program starts the main deviation-rectifying system that hoists voluntarily, and the main hook frequency converter reduction of speed of the very fast overhead traveling crane of " instruction " rotating speed is equal up to the absolute value data of two car owner's hook operational factors.
2. a kind of two 400 ton bridge crane main liftings as claimed in claim 1 and height balance correcting system is characterized in that: semaphore uses the PROFIBUS-DP pattern to carry out the transmission communication of weak electric signal between the electronic component.
3. a kind of two 400 ton bridge crane main liftings as claimed in claim 1 and height balance correcting system is characterized in that: the driver's cab substation of two overhead traveling cranes, communication master station and dolly communication substation are equipped with PLC respectively; PLC is a Siemens S7-300 series PLC.
4. a kind of two 400 ton bridge crane main liftings as claimed in claim 1 and height balance correcting system, it is characterized in that: the master controller of two overhead traveling cranes all has the S+B coder; The main hook frequency converter of two overhead traveling cranes is Siemens 6SE7 Series Frequency Converter; The incremental encoder of two overhead traveling cranes is P+F incremental encoders; The absolute value type coder of two overhead traveling cranes is P+F absolute value encoders.
5. like any described a kind of two 400 ton bridge crane main liftings of claim 1 to 4 and height balance correcting system, it is characterized in that: the communication master station of two overhead traveling cranes is contained in respectively in the girder separately; The dolly communication substation of two overhead traveling cranes is contained in respectively on the dolly separately.
6. a kind of two 400 ton bridge crane main liftings as claimed in claim 5 and height balance correcting system, it is characterized in that: the master controller of two overhead traveling cranes is equipped with operating handle.
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| CN2009101175801A CN101704473B (en) | 2009-11-11 | 2009-11-11 | Main lifting parallel operation height balance correcting system of 400-ton bridge crane |
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| CN102107826A (en) * | 2011-03-18 | 2011-06-29 | 北城致远集团有限公司 | Controllable synchronous lifting device |
| CN102219153B (en) * | 2011-05-30 | 2013-06-05 | 林汉丁 | Display device for dynamically displaying lifting risk on collaborative party display installment |
| CN103101840B (en) * | 2013-02-05 | 2015-08-12 | 中船第九设计研究院工程有限公司 | A kind of communication means of high pedestal jib crane PLC fieldbus |
| CN103072897A (en) * | 2013-02-06 | 2013-05-01 | 中船第九设计研究院工程有限公司 | Programmable logic controller (PLC) communication method of gantry crane of decentralized periphery (DP) bus framework |
| CN103640981B (en) * | 2013-12-11 | 2016-06-01 | 徐工集团工程机械股份有限公司 | The correction device at lifting machine double hoisting system suspension hook inclination angle, method and lifting machine |
| CN106365064B (en) * | 2016-08-31 | 2020-01-21 | 北京首钢自动化信息技术有限公司 | Double-code-value stroke amplitude limiting method and device for lifting mechanism |
| CN107544285B (en) * | 2017-07-24 | 2020-07-10 | 清华大学 | Control method for car lifting unit |
| CN107298386B (en) * | 2017-08-07 | 2018-12-18 | 唐山钢铁集团微尔自动化有限公司 | A method of realizing the unmanned more days workshop conflict evadings of overhead traveling crane |
| CN107746021A (en) * | 2017-11-22 | 2018-03-02 | 宝鸡石油机械有限责任公司 | Integral type twin-roll well drilling hoist with compensation function |
| CN111813132B (en) * | 2020-09-10 | 2020-12-08 | 歌尔光学科技有限公司 | Positioning control method and device, programmable logic controller and readable storage medium |
| CN112479039B (en) * | 2020-11-30 | 2023-03-17 | 上海辛格林纳新时达电机有限公司 | Track crane control system |
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Effective date of registration: 20121120 Address after: Sichuan Road 731600 in Gansu County of Yongjing province Liujiaxia town No. 13 Patentee after: Gansu Electric Power Corporation, Liujiaxia Hydropower Plant Patentee after: State Grid Corporation of China Address before: Sichuan Road 731600 in Gansu County of Yongjing province Liujiaxia town No. 13 Patentee before: Gansu Electric Power Corporation, Liujiaxia Hydropower Plant |